add DVT1-2
cosmic_power
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Before Width: | Height: | Size: 78 KiB After Width: | Height: | Size: 47 KiB |
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Before Width: | Height: | Size: 92 KiB After Width: | Height: | Size: 59 KiB |
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Before Width: | Height: | Size: 84 KiB After Width: | Height: | Size: 68 KiB |
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Before Width: | Height: | Size: 77 KiB After Width: | Height: | Size: 52 KiB |
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Before Width: | Height: | Size: 92 KiB After Width: | Height: | Size: 55 KiB |
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Before Width: | Height: | Size: 102 KiB After Width: | Height: | Size: 62 KiB |
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Before Width: | Height: | Size: 94 KiB After Width: | Height: | Size: 55 KiB |
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Before Width: | Height: | Size: 94 KiB After Width: | Height: | Size: 61 KiB |
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@ -1,9 +1,12 @@
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%temp get DVT traj
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gearRatio = [100,100,120,100,100,80,50,100,1/(0.012/(2*pi))];
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motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
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% motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
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% DVT1-2
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motorConstant = [0.21,0.21,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
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sensorDir = [-1,1,-1,-1,-1,1,-1,1,1];
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% load("C:\Users\cosmicpower\AppData\Roaming\123pan\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat");
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load("D:\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat")
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% load("D:\1833128421\123同步文件夹\R1000-GC-Data\large_range_lab1.mat")
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load("D:\1833128421\123同步文件夹\R1000-GC-Data\DVT1-2\large-range-lab1.mat");
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posDir = [1,1,1,1,1,1,1,-1,1];
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isCurrentSensor = true;
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% J9 traj
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@ -1,11 +1,13 @@
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gearRatio = [100,100,120,100,100,80,50,100,1/(0.012/(2*pi))];
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motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
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% motorConstant = [0.21*2.5,0.21*2.5,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
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% DVT1-2
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motorConstant = [0.21,0.21,0.128,0.119,0.094,0.094,0.094,0.099,0.031];
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sensorDir = [-1,1,-1,-1,-1,1,-1,1,1];
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% load("D:\1833128421\123同步文件夹\R1000-GC-Data\lab12.mat");
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posDir = [1,1,1,1,1,1,1,-1,1];
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% J9 traj
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for i=9
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for i=2
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fileData=eval(strcat('fileData', num2str(i)));
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data = fileData.data;
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dataLength = length(data);
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@ -30,7 +32,7 @@ end
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% should run identifcation program firstly
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resolution = 20;
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tau_estimate=[];
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for k=9
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for k=3
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if k ==2
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qx = idntfcnTrjctry(k).q(k,:);
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qy = idntfcnTrjctry(k).q(6,:);
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@ -53,5 +55,5 @@ end
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hold on;
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mesh(X,Y,current_estimate,current_estimate, 'FaceAlpha', 0.0)
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%%
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% saveas(gcf, ['./figure/' 'J' num2str(k) ' Gravity Model' '.jpg'])
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saveas(gcf, ['./figure/' 'J' num2str(k) ' Gravity Model' '.jpg'])
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